JP2000190269A - Handling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enlarge general purpose properties by letting a work (under rear assembly) the outer side surfaces at both the sides of which are of curved one different every kind of a car, be lifted up regardless of the kind of a car so as to enlarge versatility, and make the equipment small in size by means of robotization. SOLUTION: This is a handling device to lift up a work (under rear assembly) the outer side surfaces at both the sides of which are of curved one different every king of a car without uniformity, and paired right and left handling mechanisms 30 and 32 are provided for the supports of the device respectively. And both the handling mechanisms 30 and 32 are equipped with each chuck 38 capable of being displaced so as to be laid along the configuration of the corresponding outer side surface of the work, and with each clamper 54 capable of supporting/releasing the corresponding lower surface at the side of the work with each actuator driven. Furthermore, one handling mechanism 32 is so devised so as to be moved to the direction that a space between both the handling mechanisms 30 and 32 is changed with drive of an actuator 24 (air cylinder) driven.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a handling apparatus for lifting up an under-rear assembly whose outer surfaces on both sides have different curved shapes without uniformity for each vehicle type.

[0002]

2. Description of the Related Art For general handling equipment,
For example, the technology disclosed in Japanese Utility Model Laid-Open No. 60-4390 is known. In this technique, a chuck device is used in which a fixed gripping member is provided at one end of an apparatus main body and an open / close gripping member is provided at the other end via a clamp cylinder. The work can be clamped between the two gripping members by operating the opening / closing gripping member with the clamp cylinder. By the way, work of lifting a work by this kind of handling device is diversified, and depending on the contents thereof, it may be difficult to deal with one type of chuck device.

FIG. 10 shows an under rear assembly (U /
FIG. 3 is a perspective view illustrating one type of R Assy). U / R Assy (Work 80) that has been assembled as shown in this drawing
In some cases, in order to perform assembly with another assembly (front floor assembly), the assembly may be lifted up by a handling device and moved to an assembly process with another assembly. In this lift-up, rigid members located on the outer surfaces on both sides of the work 80 are clamped from the outside.

[0004] However, the outer surfaces 82 on both sides of the work 80 have different curved shapes for each vehicle type, and are not uniform across vehicle types. Therefore, until now, a dedicated handling device with an attachment corresponding to the shape of the work 80 for each vehicle type has been prepared, and these are selectively mounted on the transfer machine to lift up and transfer the work 80. I have. The reason for using the transporter is to provide a position where a dedicated handling device for each vehicle type is stocked in the movement route of the transporter and to select a handling device according to the vehicle type prior to lifting up the work 80.

[0005]

As described above, conventionally, since it is necessary to select a dedicated handling device according to the type of vehicle, a transporter having low versatility has to be used, and lift-up and transfer of the U / R assembly have been required. Robotization has been hindered. For this reason, the equipment scale becomes large, and the construction period and cost required for the construction cannot be ignored.

An object of the present invention is to solve the above-mentioned problem, and an object of the present invention is to lift a workpiece (U / R Assy) whose outer surfaces on both sides have different curved shapes for each vehicle type irrespective of the vehicle type. In addition to expanding versatility, it is possible to greatly reduce the scale of equipment by using robots.

[0007]

SUMMARY OF THE INVENTION The present invention has been made to achieve the above-mentioned object, and the invention according to claim 1 is characterized in that the outer surfaces of both sides have a different curved surface shape without uniformity for each vehicle type.
This is a handling device for lifting up the work using R Assy as a work, and a pair of left and right handling mechanisms are provided for a support of the device. Both handling mechanisms include a chuck that operates to conform to the shape of the outer surface of the corresponding side of the work, and a clamper that can support or release the lower surface of the corresponding side by driving an actuator. In addition, one of the handling mechanisms can be moved in a direction in which the distance between the two handling mechanisms is changed by driving the actuator.

According to the present invention, the outer surfaces of both sides of the work can be sandwiched from the outside along the curved shape by the chucks of both handling mechanisms, and both sides of the work can be supported from below by the clamper. Therefore, this kind of work can be lifted up by clamping, regardless of the vehicle type, and the versatility as a handling device is expanded. In addition, it is possible to use a robot for lifting and transferring the work, and it is possible to greatly reduce the equipment scale as compared with a conventional transfer machine.

It is also possible to adopt a structure in which both handling mechanisms are moved together with respect to the support. In that case, the amount of movement of each handling mechanism required to change the distance between the two handling mechanisms by a predetermined dimension is, of course, half that required to move only one of the handling mechanisms, and quick clamping can be performed. Becomes possible. As the actuator for changing the distance between the two handling mechanisms and the actuator of the clamper, an air cylinder is often used from the viewpoint of commonality with other equipment and versatility.

According to a second aspect of the present invention, there is provided the handling device according to the first aspect, wherein the individual chucks of the two handling mechanisms output an electric signal when the both sides of the work are sandwiched from outside by the chucks. Are provided. Based on the electric signals from these sensors, it is possible to perform control such as stopping the driving of the actuator for changing the interval between the two handling mechanisms or driving the actuator of the clamper. As a result, the work can be clamped at an appropriate timing by both handling mechanisms.

According to a third aspect of the present invention, there is provided the handling apparatus according to the first aspect, wherein each of the clampers of the two handling mechanisms has a movement amount between the support of the work by the driving of the actuator and the release of the work. It is set so that it can correspond to various shapes. in this case,
Even when the shape of the work greatly differs depending on the type of vehicle, it is possible to always properly clamp each work by a sufficient movement amount of the clamper.

According to a fourth aspect of the present invention, there is provided the handling apparatus according to the first aspect, wherein a work retainer is disposed on the support between the two handling mechanisms, and the work retainer is driven by the actuator to move the upper surface of the work. Is configured to be able to be held down.

Thus, the work is held down from above by the work holder in addition to the clamping of the outer surfaces on both sides by both handling mechanisms. As a result, more stable clamping becomes possible, and wobbling at the time of lift-up and transport of the work is eliminated. An air cylinder is often used for the work holding actuator from the same viewpoint as described above.

[0014]

Embodiments of the present invention will be described below. FIG. 1 is a front view showing the entire handling device, and FIG. 2 is a plan view of FIG. As shown in these drawings,
The support 10 in the handling device has a frame shape that is long in the left-right direction, and a pair of guide rods 12 extending to the left is connected to one end (the left end in the drawing). A mounting plate 14 that can be connected to the robot arm is fixed to the upper surface of the support 10 at a substantially middle portion in the left-right direction. That is, the handling device in the present embodiment is premised on use by robotization.

A fixed plate 16 for mounting a fixed handling mechanism 30 to be described later is attached to the lower surface of the right end of the support 10. The guide rod 12 has a movable handling mechanism 3.
2 is supported via a pair of holders 20 fixed to the upper surface thereof. These holders 20 can move in the left-right direction along the respective guide rods 12 (see also FIGS. 6 and 7 described later).

An air cylinder 24 used as one of the actuators is mounted laterally on the lower surface of the support 10. A connection fitting 28 connected to the distal end of the piston rod 26 of the air cylinder 24 is connected to the connection portion 22 of the slide plate 18 with a pin. Therefore, by the drive control of the air cylinder 24, the slide plate 18 moves in the left-right direction along the guide rod 12.

Handling mechanisms 30 and 32 are mounted on the fixed plate 16 and the slide plate 18, respectively. The handling mechanism 32 on which the slide plate 18 is mounted is moved in the left-right direction by the driving of the air cylinder 24, whereby the distance between the handling mechanisms 30, 32 can be changed. The handling mechanisms 30 and 32 have the same structure, although the left and right directions are symmetrically arranged.

FIG. 3 is an enlarged front view of the fixed handling mechanism 30, FIG. 4 is a left side view of FIG. 3, and FIG. 5 is a sectional view taken along the line VV of FIG. FIG. 6 is an enlarged front view of the movable handling mechanism 32, FIG. 7 is a left side view of FIG. 6, and FIG. 8 is a sectional view taken along the line VIII-VIII of FIG. As is apparent from these drawings, a support bracket 36 is fixed to the lower surface of the fixing plate 16 or the slide plate 18 with a spacer 34 interposed therebetween.
A chuck 38 and a clamper 54 are provided for the support bracket 36, respectively.

The structure of the chuck 38 will be described. The upper end of a support shaft 42 is connected to a chuck bracket 40 fixed to the lower surface of the support bracket 36.
A support cylinder 46 fixed to a substantially intermediate portion of the plate 44 is supported by the support shaft 42 so as to be rotatable around the axis (vertical axis) of the support shaft 42. On both sides of the plate 44, upper ends of fingers 48 extending downward are fixed, respectively.

The chuck bracket 40 and the plate 4
4, return springs 50 are mounted on both sides of the support cylinder 46, respectively. These return springs 50 act to push the plate 44 away from the chuck bracket 40, and keep the plate 44 at the neutral position at all times in the above-mentioned rotation direction. Note that the chuck 38 is shown in FIGS.
Alternatively, a plurality of proximity switches 52 are provided as shown by virtual lines in FIGS. These proximity switches 52
The work piece 80 (U / U) shown in FIG.
R Assy) is used as a sensor for detecting contact with the outer surface 82 on the side.

Next, the structure of the clamper 54 will be described. The clamper 54 is located outside the chuck 38, and an air cylinder 56 used as an actuator of the clamper 54 faces downward on the lower surface of the support bracket 36. It is installed. This air cylinder 56
A bracket 58 is attached to the lower end of the bracket 58, and the bracket 58 has a shape having side walls on both left and right sides in FIG. 4 or FIG.

On both side walls of the bracket 58, vertically long guide holes 60 are formed. The guide holes 60 support both ends of a shaft 64 coupled to the base end of the clamp member 62 so that they can move up and down. The clamp member 62 is connected to the piston rod 57 of the air cylinder 56 through a link 66. Then, when the piston rod 57 is pushed downward by the driving of the air cylinder 56, the clamp member 62 is pushed down from the state shown by the solid line in FIG. 3 or FIG. After the shaft 64 has been received at the lower end of the guide hole 60, the clamp member 62 rotates about this shaft 64 as a fulcrum in a state shown by a virtual line in FIG. 3 or FIG.

When the clamper 54 holds the clamp member 62 in the state of the solid line, the clamper 54 supports the work 80, and the imaginary line releases the support. As described above, the clamper 54 is driven by the shaft 64,
Is moved up and down, so that the amount by which the clamp member 62 moves between the supported state and the released state is set large.

FIG. 9 is an enlarged front view of the central portion of FIG. As is clear from this drawing, a work retainer 68 is disposed between the two handling mechanisms 30, 32. The air cylinder 72 used as an actuator of the work holder 68 is supported downward by a cylinder bracket 70 on the lower surface of the intermediate portion of the support 10. A disc-shaped pressing member 76 is connected to the tip of the piston rod 74 of the air cylinder 72. Therefore, the air cylinder 7
By the drive control of 2, the holding member 76 moves up and down.

As described above, the outer surface 82 on both sides of the work 80 has a curved surface shape different for each vehicle type, and the work 80 is not uniform over each vehicle type. The procedure for lifting up the workpiece 80 under such conditions by the handling device configured as described above will be described below. In the handling device, it is assumed that the mounting plate 14 of the support 10 is connected to a robot arm (not shown).

First, the movable handling mechanism 32 is moved outward by driving the air cylinder 24, so that the distance between the handling mechanisms 30, 32 is increased. In this state, the robot is controlled and the fixed handling mechanism 3 is fixed.
The chuck 38 at 0 is pressed against the outer surface 82 on one side of the work 80 until the proximity switch 52 is turned on. Drive control of the air cylinder 24 is again performed based on the electric signal from the proximity switch 52, and the movable handling mechanism 32 is moved inward. Then, the chuck 38 of the handling mechanism 32 is pressed against the outer surface 82 on the opposite side of the workpiece 80, and the driving of the air cylinder 24 is stopped based on an electric signal when the proximity switch 52 is turned on.

When the chucks 38 are pressed against the outer surface 82 of the work 80, the plate 44 and the fingers 48 rotate about the axis of the support shaft 42, and the shape of each outer surface 82 is adjusted. (See FIGS. 5 and 8). Therefore, the work 80 is clamped from the outside by the chuck 38 with the outer surfaces 82 on both sides conforming to the curved shape.

Subsequently, the air cylinder 56 of the clamper 54 in each of the handling mechanisms 30, 32 is driven, and the clamp member 62 operates from the state shown by the imaginary line in FIGS. 3 and 6 to the state shown by the solid line. Thereby, both sides of the work 80 are supported from the lower surface. As described above, since the amount of movement of the clamp member 62 between the released state and the supported state is set large, the clamp member 62 can appropriately support the shape of the work 80 that differs for each vehicle with a margin. Finally, the air cylinder 72 of the work holder 68 is driven, and the holding member 76 is lowered to move the work 80
From the top.

As described above, when both sides of the work 80 are clamped by the chucks 38 and the clampers 54 of the handling mechanisms 30 and 32, and the upper surface of the work 80 is pressed by the work presser 68, the work 80 is controlled by the robot. Lift it up and transfer it to, for example, an assembling process with a front floor assembly (not shown). After this transfer, the holding member 76 of the work holding member 68 is raised, and the support of the work 80 by the clampers 54 of the two handling mechanisms 30 and 32 is released, and the movable handling mechanism 32 is moved outward to be operated by the chuck 38. The clamping of the work 80 is released. This completes a series of operations.

[Brief description of the drawings]

FIG. 1 is a front view showing an entire handling device.

FIG. 2 is a plan view of FIG. 1;

FIG. 3 is an enlarged front view of a fixed handling mechanism.

FIG. 4 is a left side view of FIG. 3;

FIG. 5 is a sectional view taken along line VV of FIG. 3;

FIG. 6 is an enlarged front view of a movable handling mechanism.

FIG. 7 is a left side view of FIG. 6;

FIG. 8 is a sectional view taken along the line VIII-VIII of FIG. 6;

FIG. 9 is an enlarged front view of a central portion of FIG. 1;

FIG. 10 is a perspective view showing one type of U / R Assy.

[Explanation of symbols]

 Reference Signs List 10 support 24 air cylinder (actuator) 30, 32 handling mechanism 38 chuck 52 proximity switch 54 clamper 56 air cylinder (actuator) 68 work holder 72 air cylinder (actuator) 80 work 82 outer surface

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Tetsushi Hayashi 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Corporation F term (reference) 3F061 AA01 BB09 BC09 BC19 BD01 BD03 BE05 BE33 BE42 BE43

Claims (4)

[Claims] 1. A handling device for lifting up an under rear assembly having a curved outer surface having a different outer surface for each vehicle type without uniformity for each type of vehicle, and a supporting device for the device. A pair of right and left handling mechanisms are provided respectively, and both handling mechanisms support or operate the chuck so as to conform to the shape of the outer surface of the corresponding side of the work, and the lower surface of the corresponding side is also supported or driven by the actuator. A handling device, comprising: a clamper capable of releasing support, wherein one of the handling mechanisms is movable in a direction in which a distance between the two handling mechanisms is changed by driving an actuator. 2. The handling apparatus according to claim 1, wherein each of the chucks of the two handling mechanisms includes a sensor that outputs an electric signal when the two sides of the work are sandwiched from outside by the chucks. Handling equipment. 3. The handling apparatus according to claim 1, wherein each of the clampers of the two handling mechanisms has a movement amount between the support of the work by the driving of the actuator and the release thereof, which can correspond to various shapes of the work. Handling device set to. 4. The handling device according to claim 1, wherein a work press is disposed on the support between the two handling mechanisms, and the work press can press an upper surface of the work by driving the actuator. The configured handling device.